Nonholonomic Mechanics and Control

1. Auflage 2003. Corr. 2. printing 2007
ISBN: 978-0-387-95535-3
Verlag: Springer Netherlands

Buch, Englisch, Band 24, 484 Seiten, Book, Format (B × H): 155 mm x 235 mm, Gewicht: 1950 g

Reihe: Interdisciplinary Applied Mathematics

This book explores connections between control theory and geometric mechanics. The author links control theory with a geometric view of classical mechanics in both its Lagrangian and Hamiltonian formulations, and in particular with the theory of mechanical systems subject to motion constraints. The synthesis is appropriate as there is a rich connection between mechanics and nonlinear control theory. The book provides a unified treatment of nonlinear control theory and constrained mechanical systems that incorporates material not available in other recent texts. The book benefits graduate students and researchers in the area who want to enhance their understanding and enhance their techniques.

Zielgruppe

Research

Autoren/Hrsg.

Bloch, A.M.

Weitere Mitwirkende

Baillieul, J.

Crouch, P.

Marsden, Janet

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Mathematik | Informatik Mathematik Numerik und Wissenschaftliches Rechnen Optimierung

Inhaltsverzeichnis

Preface * About the Authors * A Diagram for the Book * Introduction * Mathematical Preliminaries * Basic Concepts in Geometric Mechanics * Introduction to Aspects of Geometric Control Theory * Nonholonomic Mechanics * Control of Mechanical and Nonholonomic Systems * Optimal Control * Stability of Nonholonomic Systems * Energy-Based Methods for Stabilitization * References * Index